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控制力矩陀螺驱动的空间机器人轨迹跟踪控制

贾英宏 赵楠 徐世杰

贾英宏, 赵楠, 徐世杰等 . 控制力矩陀螺驱动的空间机器人轨迹跟踪控制[J]. 北京航空航天大学学报, 2014, 40(3): 285-291. doi: 10.13700/j.bh.1001-5965.2013.0259
引用本文: 贾英宏, 赵楠, 徐世杰等 . 控制力矩陀螺驱动的空间机器人轨迹跟踪控制[J]. 北京航空航天大学学报, 2014, 40(3): 285-291. doi: 10.13700/j.bh.1001-5965.2013.0259
Jia Yinghong, Zhao Nan, Xu Shijieet al. Trajectory tracking control of space robot actuated by control moment gyroscopes[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(3): 285-291. doi: 10.13700/j.bh.1001-5965.2013.0259(in Chinese)
Citation: Jia Yinghong, Zhao Nan, Xu Shijieet al. Trajectory tracking control of space robot actuated by control moment gyroscopes[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(3): 285-291. doi: 10.13700/j.bh.1001-5965.2013.0259(in Chinese)

控制力矩陀螺驱动的空间机器人轨迹跟踪控制

doi: 10.13700/j.bh.1001-5965.2013.0259
基金项目: 国家自然科学基金资助项目(11272027)
详细信息
  • 中图分类号: TP242

Trajectory tracking control of space robot actuated by control moment gyroscopes

  • 摘要: 提出一种新的空间机器人设计概念,并研究其轨迹跟踪控制问题.系统中的各机械臂以自由球铰连接,在机器人平台和每节机械臂上均安装有一组控制力矩陀螺(CMGs,Control Moment Gyroscopes)作为控制力矩执行机构.采用改进的罗格里得斯参数(MRPs,Modified Rodrigues Parameters)描述平台和各节机械臂的姿态,利用Kane方程建立了系统的动力学模型.在此基础上,用逆动力学方法设计了系统的轨迹跟踪控制律,用以实现卫星平台的位置/姿态和机械臂末端作用器位置的轨迹跟踪控制.采用带有零运动的CMGs操纵律以使CMGs准确输出力矩并回避构型奇异.基于两关节机械臂系统和金字塔构型CMGs的数值仿真结果验证了所设计的控制律和操纵律的有效性,以及自由球铰连接方式在提高末端作用器运动自由度和降低系统动力学耦合方面的优越性.

     

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出版历程
  • 收稿日期:  2013-05-14
  • 刊出日期:  2014-03-20

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